• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.6
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• pp.561-567
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• 2011

The inverse radiation analysis of a two-dimensional irregular configuration using unstructured triangular meshes is presented. In this study, an enclosure filled with an absorbing, emitting and scattering medium with diffusely emitting and reflecting opaque boundaries is considered. The finite volume method is applied to solve the radiative transfer equation in order to simulate the measured incident radiation values which are used as input data for the inverse analysis. The conjugate gradient method is adopted for the estimation of wall emissivities by minimizing the objective function at each iteration step. To verify the performance of the unstructured grid system, we compare the results with those using a structured grid system for the two-dimensional lopsided shape. The effect of measurement errors on the estimation accuracy is also investigated.

• Geomechanics and Engineering
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• v.8 no.2
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• pp.153-171
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• 2015

The observational method in tunnel engineering allows the evaluation in real time of the actual conditions of the ground and to take measures if its behavior deviates considerably from predictions. However, it lacks a consistent and structured methodology to use the monitoring data to adapt the support system in real time. The definition of limit criteria above which adaptation is required are not defined and complex inverse analysis procedures (Rechea et al. 2008, Levasseur et al. 2010, Zentar et al. 2001, Lecampion et al. 2002, Finno and Calvello 2005, Goh 1999, Cui and Pan 2012, Deng et al. 2010, Mathew and Lehane 2013, Sharifzadeh et al. 2012, 2013) may be needed to consistently analyze the problem. In this paper a methodology for the real time adaptation of the support systems during tunneling is presented. In a first step limit criteria for displacements and stresses are proposed. The methodology uses graphics that are constructed during the project stage based on parametric calculations to assist in the process and when these graphics are not available, since it is not possible to predict every possible scenario, inverse analysis calculations are carried out. The methodology is applied to the "Bois de Peu" tunnel which is composed by two tubes with over 500 m long. High uncertainty levels existed concerning the heterogeneity of the soil and consequently in the geomechanical design parameters. The methodology was applied in four sections and the results focus on two of them. It is shown that the methodology has potential to be applied in real cases contributing for a consistent approach of a real time adaptation of the support system and highlight the importance of the existence of good quality and specific monitoring data to improve the inverse analysis procedure.

• Journal of the Korea Society of Computer and Information
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• v.24 no.10
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• pp.57-64
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• 2019

In this paper, we study a polynomially solvable case of the inverse interval graph coloring problem. Given an interval graph associated with a specific interval system, the inverse interval graph coloring problem is defined with the assumption that there is no proper K-coloring for the given interval graph, where K is a fixed integer. The problem is to modify the system of intervals associated with the given interval graph by shifting some of the intervals in such a way that the resulting interval graph becomes K-colorable and the total modification is minimum with respect to a certain norm. In this paper, we focus on the case K = 1 where all intervals associated with the interval graph have length 1 or 2, and interval displacement is only allowed to the righthand side with respect to its original position. To solve this problem in polynomial time, we propose a two-phase algorithm which consists of the sorting and First Fit procedure.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• Journal of KIISE:Computing Practices and Letters
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• v.7 no.6
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• pp.696-702
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• 2001

In this paper, we design IDEA cipher algorithm which is cryptographically superior to DES. To improve the encryption throughput, we propose an efficient design methodology for high-speed implementation of multiplicative inverse modulo $2^{15}$+1 which requires the most computing powers in IDEA. The efficient hardware architecture for the multiplicative inverse in derived from applying of Fermat's Theorem. The computing powers for multiplicative inverse in our proposal is a decrease 50% compared with the existing method based on Extended Euclid Algorithm. We implement IDEA by applying a single iterative round method and our proposal for multiplicative inverse. With a system clock frequency 20MGz, the designed hardware permits a data conversion rate of more than 116 Mbit/s. This result show that the designed device operates about 2 times than the result of the paper by H. Bonnenberg et al. From a speed point of view, out proposal for multiplicative inverse is proved to be efficient.

• Journal of Korea Water Resources Association
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• v.39 no.3 s.164
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• pp.253-259
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• 2006

In almost all previous hydrological studies, the standard approach adopted for nonlinear time series analysis is to perform system characterization first followed by forecasting. However, a practical inverse approach for forecasting nonlinear hydrological time series was proposed recently To investigate the applicability standard approach method and inverse approach, this study used a theoretical time series (Mackey-Glass time series) and daily streamflows of the Bear River in Idaho. To predict a theoretical time series and daily streamflow, this study used local approximation method. From chaos analysis, chaotic characteristics are found in daily streamflow of the Bear River in Idaho. Resulting from 1, 3 and 5-day prediction, inverse approach method is shown to be better than the standard approach for a theoretical chaotic time series and daily streamflow.

• The Journal of Korean Institute of Next Generation Computing
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• v.13 no.4
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• pp.112-123
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• 2017

Research for the inverse estimation of RF threats and the efficient electronic attack based on the parameters of the electronic information has been active in the electronic warfare (EW) situations. In this paper, an EW transmission simulator is constructed from the modeling of radar threats, EW receivers, and propagation environments with the collected electronic information in order to verify the performance of the inverse estimation algorithm in various and practical EW situations. In simulation results, we show that the range tracking error and angle tracking error are produced within ten meters and one degree, respectively. And also, we show that the changing relations between the angle tracking error and the parameters of the monopulse angle tracking radar such as the beamwidth and squint angle in simulation results correspond with those in the theoretical modeling. Accordingly, the constructed EW simulator can be used to observe the modifying characteristics of the electronic information in transmission environments, and then, to evaluate the performance of the inverse estimation system in various EW situations.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.108-116
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• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.660-666
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• 2015

To avoid radiation exposure from repeated x-rays taken during orthopedic surgery, an x-ray permeable teleoperated Stewart platform for orthopedic fracture surgery was developed. This system is composed of a user interface device and a teleoperated operational robot, both of which use a Stewart platform mechanism. The links of the operational robot are made from an x-ray permeable material, polycarbonate, to minimize the interference. The forward and inverse kinematics algorithm applied and the structural reliability were both verified through an analysis using commercial engineering software. To monitor the operating status in real time and stop the device during an emergency, a monitoring software was developed. The performance of the x-ray permeable teleoperated Steward platform was validated experimentally.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.